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Flying Car and Autonomous Flight Engineer Nanodegree
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I liked this course: Introduction to Aeronautical Engineering, by Technical University Delft in the Netherlands, on edX. It assumes basic physics and maths, but then gives a nice overview about all the fundamentals - aerostatics, aerodynamics, propulsion, materials, structure of aircraft, etc.
If you're specifically looking at autonomous flight of drones, then the Udacity Flying Car nano degree is not bad (it contains several mistakes, but takes you through quite some material with neat exercises). It presupposes a bit more maths and programming. I was free (for a month) during the early stages of the pandemic, now I think it's back to normal prices.
Udacity has a course that focuses on flight. I know several people who took this course and are very happy with it.
Agreed that Udacity's AI for Robotics was a weak course. I highly recommend some of Udacity's recent paid-only courses on robotics:
Self-driving car engineer nanodegree (not the one with "intro" in its name) https://www.udacity.com/course/self-driving-car-engineer-nan...
Robotics software engineer nanodegree https://www.udacity.com/course/robotics-software-engineer--n...
Flying car and autonomous flight engineer nanodegree https://www.udacity.com/course/flying-car-nanodegree--nd787
Just as a sample, this is one of many projects I completed as part of the self-driving car engineer nanodegree. My code controls a car driving on a highway with other cars.